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createMesh

Create new mesh with specified values

Since R2022b

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    Syntax

    createMesh(actor,vertices,normals,faces)
    createMesh(___,tcoords,vcolor)

    Description

    example

    createMesh(actor,vertices,normals,faces) creates a mesh defined by vertices, normals and faces.

    createMesh(___,tcoords,vcolor) creates a mesh additionally defined by the texture coordinates tcoords and the vertex colors vcolor.

    Examples

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    Open Live Script

    This example shows how to build an actor from mesh data using the createMesh function and how to use the texture property of the sim3d.Actor object. First, you create a world scene and an actor object. Next, you build the appearance of the actor from a mesh and apply a texture. Then, you add the actor to the world, transform the actor, and set a view in the scene. Finally, you view the actor in the Simulation 3D Viewer window.

    A mesh is a 3D build of a model consisting of polygons and is defined by vertices, normals, and faces. If you require detailed control over the geometry of an actor, create an actor from a mesh. This example uses sphere geometry for the mesh data to build the actor.

    Build Actor from Mesh in World

    Create a world scene.

    world = sim3d.World();

    Instantiate an actor object named sphere. Use the sim3d.utils.Geometry function to create a sphere. Obtain the sphere vertices V, normals N, faces F, texture coordinates T, and vertex colors C. 

    ActObj = sim3d.Actor('ActorName', 'sphere');
[V, N, F, T, C] = sim3d.utils.Geometry.sphere([0.5 0.5 0.5]);

    Create a mesh using the actor object and sphere geometry. Set a texture provided by the image file. Add the actor object to the world.

    createMesh(ActObj, V, N, F, T, C);
ActObj.Texture = fullfile(pwd,"image.png");
add(world,ActObj);

    Set Actor Transformation

    Use the actor object translation, rotation, and scale properties to orient the actor relative to the world origin.

    ActObj.Translation = [0 0 0];
ActObj.Rotation = [0, 0, 0];
ActObj.Scale = [1, 1, 1];

    Set Viewer Window Point of View

    If you do not create a viewport, then the point of view is set to 0, 0 ,0, and you can use the arrow keys and pointer to navigate in the Simulation 3D Viewer window.

    For this example, use the createViewport function to create a viewport with a single field, Main, that contains a sim3d.sensors.MainCamera object.

    viewport = createViewport(world);
viewport.Translation = [-3, 0, 0];

    Run Animation

    Run a simulation set for 10 seconds with a sample time of 0.02 seconds.

    run(world,0.02,10)

    Delete World

    Delete the world object.

    delete(world)

    Input Arguments

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    Vertex positions, specified as a real positive (N,3) vector. This vector includes all vertex positions to be used for the mesh geometry.

    Example: vertices = reshape(1: 6, 2, 3)

    Data Types: double

    Actor class where mesh is created, specified as a sim3d.Actor object.

    Faces of actor shape, specified as a real positive (N,3) vector. This vector defines how each triangle of the mesh is drawn. Length must be a multiple of 3.

    Example: faces = [1: 3; 4 : 6]

    Data Types: double

    Normal vectors for each vertex, specified as a real positive (N,3) vector. This vector must be the same length as vertices vector.

    Example: normals = reshape(7: 12, 2, 3)

    Data Types: double

    Vertex colors, specified a real positive (N,3) vector. This vector must be the same length as vertices vector.

    Example: vertexcolor = reshape(25 : 33, 3, 3)

    Data Types: double

    Texture coordinates of each vertex, specified a real positive (N,2) vector. This must be the same length as vertices array.

    Example: texturecoord = reshape(21 : 24, 2, 2)

    Data Types: double

    Version History

    Introduced in R2022b

    See Also

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